The need to lead an independent and fuller life is as much a right of a person with physical disability as any other human being. Driving capabilities of a person with a disability have been assessed and evaluated using qualitative techniques. However, certain inadequacies that arise using qualitative measures can be avoided if the assessment is based on quantitative techniques. The above requirement necessitates the need to devise a method and a system which is focused on the right development of the techniques used in assessing and measuring different capabilities (such as range of motion and force input) of the person with a disability in a detailed manner. This thesis focuses on developing an experimental method which can be adopted as an assessment tool to evaluate different capabilities of a person with a disability. The test bed used for this purpose consists of two independent systems combined together by an interface. They are the six-degree of freedom force reflecting hand controller known as the PHANTOM haptic device [12] and a commercially available adaptive driving control system known as the AEVIT system [15]. The test bed provides compatibility between the PHANTOM and AEVIT which makes it feasible for the PHANTOM to model and control the driving input devices (steering and gas/brake) of the AEVIT system.

How many times have you been dreaming as a child that you run and after a few steps your body detaches off the ground and floats into the air? Most of the leisure activities we cultivate today have deep roots into humankind`s history and are still confined to land. The history of hovering has been inspired by the great comic books sci-fi stories and was illustrated through Star Wars flying vehicles, which have been later translated into jetpacks and hovering bikes. What if you would be stuck somewhere in the middle way between dream and reality? What if this vehicle would be at first available to you in a virtual platform, so that you could train to fly it, and when you would master the art or flying it, you could try the real experience?

Magnetically levitated microrobotic systems have shown a great deal of promise for micromanipulation tasks. A new large-gap magnetic suspension system has recently been developed at the University of Waterloo in order to develop microrobotic systems for various applications. In order to achieve motion with the system, a model is needed in order to facilitate the design of various aspects of the system, such as the microrobot and the controller. In order to derive equations of motion for the system attempts were made to characterize the force produced by the magnetic drive unit in terms of a simple analytical equation. The force produced by the magnetic drive unit was estimated with the aid of a finite element model. The derived equations were able to predict the general trend of the force curves, and with sufficient parameter tweaking the error between the force estimated by the finite element model and the force estimated by the analytical equation could be minimized. System models describing the motion of the system in the horizontal and vertical directions are identified and compared to the actual system response. The vertical position response is identified through a least squares parameter estimate of the closed loop response combined with a partial reconstruction of the root locus diagram, with the model structure based on the known dynamics of a simplified form of magnetic levitation. This model was able to provide a reasonable prediction of the system response for a variety of PID controllers under a variety of input conditions. The horizontal models are identified using a least-squares parameter estimate of the open loop characteristics of the system. The horizontal models are able to provide a reasonable prediction of the system response under PD and PID control. Full spatial motion of a microrobot prototype is demonstrated over a working range of 20x22x30 mm³, with PID controller parameters and reference trajectories adjusted to minimize disturbances. The RMS error at steady state is on the order of 0. 020 mm for vertical positioning and 0. 008 mm for horizontal positioning. A linear quadratic regulator implemented for vertical position control was able to reduce the vertical position RMS error to 0. 014 mm.

The promise and potential of controllers that can reconfigure themselves in the case of control effector failures and uncertainties, and yet guarantee stability and provide satisfactory performance, has led to fault tolerant control being an active area of research. This thesis addresses this issue with the design of two fault tolerant nonlinear Structured Adaptive Model Inversion control schemes for systems with fixed magnitude discrete controls. Both methods can be used for proportional as well as discrete controls. However, discrete controls constitute a different class of problems than proportional controls as they can take only binary values, unlike proportional controls which can take many values. Two nonlinear control laws based on Structured Adaptive Model Inversion are developed to tackle the problem of control failure in the presence of plant and operating environment uncertainties. For the case of redundant actuators, these control laws can provide a unique solution. Stability proofs for both methods are derived and are presented in this thesis. Fault Tolerant Structured Adaptive Model Inversion that has already been developed for proportional controls is extended here to discrete controls using pulse width modulation. A second approach developed in this thesis is Fault Tolerant Control Allocation. Discrete control allocation coupled with adaptive control has not been addressed in the literature to date, so Fault Tolerant Control Allocation for discrete controls is integrated with SAMI to produce a system which not only handles discrete control failures, but also accounts for uncertainties in the plant and in the operating environment. Fault tolerant performance of both controllers is evaluated with non real-time nonlinear simulation for a complete Mars entry trajectory tracking scenario, using various combinations of control effector failures. If a fault is detected in the control effectors, the fault tolerant control schemes reconfigure the controls and minimize the impact of control failures or damage on trajectory tracking. The controller tracks the desired trajectory from entry interface to parachute deployment, and has an adaptation mechanism that reduces tracking errors in the presence of uncertainties in environment properties such as atmospheric density, and in vehicle properties such as aerodynamic coefficients and inertia. Results presented in the thesis demonstrate that both control schemes are capable of tracking pre-defined trajectories in the presence of control failures, and uncertainties in system and operating environment parameters, but with different levels of control effort.

Copano Bay is a shallow (< 2-3 m), microtidal estuary in south central Texas. In an effort to both determine the distribution as well as investigate the controls on the distribution of oyster reefs, a geophysical survey of Copano Bay was conducted in June and July 2007. Surficial sediment analysis confirms that the recent sedimentation in Copano Bay is comprised of mostly estuarine mud with little sand or shell, large extents of oyster reefs and smaller areas of sand. Seismic stratigraphy analyses verify that the first oyster reefs in Copano Bay formed atop topographic highs in the Pleistocene surface. About 6 ka, sea level rise slowed to near its present rate and sediment supply decreased tremendously to Copano Bay decreasing the amount of suspended sediment. The first oyster reefs began forming around this time using these fluvial terraces as suitable substrate. Once the initial reefs were established, additional reefs began forming atop these initial reefs, or on the eroded shell hash material from the initial reefs. During this time of slow sea level rise and low sediment input to the bay, oyster reefs thrived and reef and shell hash material covered a majority of the bay surface. Once climate change increased sediment input to the bay, the reefs began to decrease in size due to siltation. The reefs have continued to decrease in size causing a 64 percent reduction in oyster reef and shell hash area from approximately 4.8 ka to today.

Integrated interpretation of three-dimensional seismic and well-logging data reveals a prominent “pop-up” structure associated with the VLE 400 fault on the regional unconformity between the Eocene and Miocene in the VLE 196 field, Maracaibo basin, Venezuela. The VLE 400 fault family, an eastern splay of the left-lateral Icotea fault in the basin, played an important role in hydrocarbon migration and accumulation in the field. Hydrocarbons accumulated to the east of the fault but not to the west. The “pop-up” structure on the Eocene unconformity has a four -way dip closure, straddling the fault and extending to the west of the fault. Structures of the Misoa Formation, which is the main reservoir developed below the unconformity in the basin, differ from the structure of the unconformity. The structure of the Misoa Formation shows a tilted uplift of the eastern block of the fault dipping toward the east caused by thrust tectonic movements. Thrust movement and following strike-slip movements provided additional accommodation space to the west of the fault and generated expanded thickness of Eocene sediments compared to the area east of the fault. The thickness of the Misoa Formation east and west of the fault shows no significant changes. Expanded sediments overlie the Misoa Formation in the western block in lateral contact with Misoa sediments eastern block act as a lateral seal. Ductile movement of the Guasare Formation shale contributed to the lateral sealing of the fault against the reservoir rocks in the eastern block. Mobilization of the Guasare Formation modified the structure of overlying formations including the anticline of the Eocene unconformity. The growth strata provide useful information of reactivation of e xisting faults, especially subtle movements which are not recognized by conventional seismic interpretation. Growth strata isochrons shows subtle reactivation of the VLE 400 fault family during Miocene time.

A new hardware system for the ECE 4550 Control System Design lab is proposed. The current hardware is examined and its shortcomings are documented. Design guidelines for the new system are put forth and interfaces between hardware elements are defined. Four hardware elements are developed: a motherboard, an I/O daughtercard, a DC motor driver daughtercard, and an AC motor driver daughtercard. Each of these systems is examined in depth from a design decision standpoint as well as from the standpoint of the design guidelines promulgated earlier. Technical limitations for each system are disclosed and examined in detail.

The purpose of this thesis is to develop a testing environment for mobile robot experiments, to examine methods for multi-robot platooning through hostile environments, and test these algorithms on mobile robots. Such a system will allow us to rapidly address and test problems that arise concerning robot swarms and consequent interactions. In order to create this hardware simulation environment a test bed will be created using ROS or Robot Operating System. This platform is highly modular and extensible for future development. Trajectory generation for the robots will use smoothing splines, B-splines, and A* search. Each method has distinct properties which will be analyzed and rated with respect to its effectiveness with regards to robotic platooning. A few issues to be considered include: Is the optimal path taken with respect to distance and threats? Is the formation of the robots maintained or compromised during traversal of the path? And finally, what sorts of compromises or additions are needed to make each method effective? This work will be helpful for choosing route planning methods in future work and will provide a large code base for rapid prototyping.

Thesis (Ph. D.)--University of Washington, 2000. / Vita. Includes bibliographical references (leaves 128-130).

Thesis (Ph. D.)--University of Texas at Austin, 1999. / Vita. Includes bibliographical references (leaves 224-240). Available also in a digital version from Dissertation Abstracts.